Cyril Cohen

Cubical Type Theory: A Constructive Interpretation of the Univalence Axiom

This paper presents a type theory in which it is possible to directly manipulate n-dimensional cubes (points, lines, squares, cubes, etc.) based on an interpretation of dependent type theory in a cubical set model. This enables new ways to reason about identity types, for instance, function extensionality is directly provable in the system. Further, Voevodskys univalence axiom is provable in this system. We also explain an extension with some higher inductive types like the circle and propositional truncation. Finally we provide semantics for this cubical type theory in a constructive meta-theory.

Refinements for Free

Formal verification of algorithms often requires a choice between definitions that are easy to reason about and definitions that are computationally efficient. One way to reconcile both consists in adopting a high-level view when proving correctness and then refining stepwise down to an efficient low-level implementation. Some refinement steps are interesting, in the sense that they improve the algorithms involved, while others only express a switch from data representations geared towards proofs to more efficient ones geared towards computations. We relieve the user of these tedious refinements by introducing a framework where correctness is established in a proof-oriented context and automatically transported to computation-oriented data structures. Our design is general enough to encompass a variety of mathematical objects, such as rational numbers, polynomials and matrices over refinable structures. Moreover, the rich formalism of the Coq proof assistant enables us to develop this within Coq, without having to maintain an external tool.

Formalized linear algebra over Elementary Divisor Rings in Coq

This paper presents a Coq formalization of linear algebra over elementary divisor rings, that is, rings where every matrix is equivalent to a matrix in Smith normal form. The main results are the formalization that these rings support essential operations of linear algebra, the classification theorem of finitely presented modules over such rings and the uniqueness of the Smith normal form up to multiplication by units. We present formally verified algorithms computing this normal form on a variety of coefficient structures including Euclidean domains and constructive principal ideal domains. We also study different ways to extend Bezout domains in order to be able to compute the Smith normal form of matrices. The extensions we consider are: adequacy (i.e. the existence of a gdco operation), Krull dimension

A Coq Formalization of Finitely Presented Modules

\leq 1

Towards Certified Meta-Programming with Typed Template-Coq

and well-founded strict divisibility.

A Formal Proof in Coq of LaSalle's Invariance Principle

This paper presents a formalization of constructive module theory in the intuitionistic type theory of Coq. We build an abstraction layer on top of matrix encodings, in order to represent finitely presented modules, and obtain clean definitions with short proofs justifying that it forms an abelian category. The goal is to use it as a first step to get certified programs for computing topological invariants, like homology groups and Betti numbers.

Formalization of a Newton series representation of polynomials

Template-Coq is a plugin for Coq, originally implemented by Malecha, which provides a reifier for Coq terms and global declarations , as represented in the Coq kernel, as well as a denotation command. Initially, it was developed for the purpose of writing functions on Coqs AST in Gallina. Recently, it was used in the CertiCoq certified compiler project, as its front-end language, to derive parametricity properties, and to extract Coq terms to a CBV λ-calculus. However, the syntax lacked semantics, be it typing semantics or operational semantics, which should reflect, as formal specifications in Coq, the semantics of Coqs type theory itself. The tool was also rather bare bones, providing only rudimentary quoting and unquoting commands. We generalize it to handle the entire Calculus of Inductive Constructions (CIC), as implemented by Coq, including the kernels declaration structures for definitions and inductives, and implement a monad for general manipulation of Coqs logical environment. We demonstrate how this setup allows Coq users to define many kinds of general purpose plugins, whose correctness can be readily proved in the system itself, and that can be run efficiently after extraction. We give a few examples of implemented plugins, including a parametricity translation. We also advocate the use of Template-Coq as a foundation for higher-level tools.

Formal foundations of 3D geometry to model robot manipulators

Stability analysis of dynamical systems plays an important role in the study of control techniques. LaSalles invariance principle is a result about the asymptotic stability of the solutions to a nonlinear system of differential equations and several extensions of this principle have been designed to fit different particular kinds of system. In this paper we present a formalization, in the Coq proof assistant, of a slightly improved version of the original principle. This is a step towards a formal verification of dynamical systems.

A constructive version of Laplaceʼs proof on the existence of complex roots

We formalize an algorithm to change the representation of a poly- nomial to a Newton power series. This provides a way to compute efficiently polynomials whose roots are the sums or products of roots of other polynomials, and hence provides a base component of efficient computation for algebraic numbers. In order to achieve this, we formalize a notion of truncated power series and develop an abstract theory of poles of fractions.

A refinement-based approach to large scale reflection for algebra

We are interested in the formal specification of safety properties of robot manipulators down to the mathematical physics. To this end, we have been developing a formalization of the mathematics of rigid body transformations in the Coq proof-assistant. It can be used to address the forward kinematics problem, i.e., the computation of the position and orientation of the end-effector of a robot manipulator in terms of the link and joint parameters. Our formalization starts by extending the Mathematical Components library with a new theory for angles and by developing three-dimensional geometry. We use these theories to formalize the foundations of robotics. First, we formalize a comprehensive theory of three-dimensional rotations, including exponentials of skew-symmetric matrices and quaternions. Then, we provide a formalization of the various representations of rigid body transformations: isometries, homogeneous representation, the Denavit-Hartenberg convention, and screw motions. These ingredients make it possible to formalize robot manipulators: we illustrate this aspect by an application to the SCARA robot manipulator.